For evaluating rotation estimation, we directly use geodesic distance described in Section  to quantify the rotation error.
We evaluate 6D pose estimation using average distance of model points (ADD) proposed in [1]}.
For a 3D model \(\mathcal {M}\)  represented as a set of points, with ground truth rotation \(R\)  and translation \(\mathbf {t}\) , and estimated rotation \(\hat{R}\)  and translation \(\mathbf {\hat{t}}\) , the ADD is defined as:
\(\mathrm {ADD}=\frac{1}{m}\displaystyle \sum _{\mathbf {x}\in \mathcal {M}} \left\Vert  (R\mathbf {x}+\mathbf {t})-(\hat{R}\mathbf {x}+\hat{\mathbf {t}})  \right\Vert _2,\) 
